Methods and Systems to Compensate for Vehicle Calibration Errors

1. A method for compensating for autonomous vehicle (AV) system errors, the method comprising: obtaining multiple 3D points for an object; transforming the multiple 3D points to a camera frame; obtaining actual 2D points for the object; establishing a virtual camera corresponding to the actual 2D points; determining an offset compensation matrix between a camera associated with the camera frame and the virtual camera; applying the offset compensation matrix to data points prior to use by vehicle control systems; and controlling operation of the AV with offset compensated data points.

2. The method of claim 1 , wherein the determining the offset compensation matrix further comprising: executing a camera pose algorithm using the multiple 3D points in the camera frame and the actual multiple 2D points in a virtual camera frame associated with the virtual camera to determine the offset compensation matrix.

3. The method of claim 1 , wherein the offset compensation matrix includes translational matrices and rotation matrices.

4. The method of claim 1 , wherein the multiple 3D points are in a world coordinate frame.

5. The method of claim 4 , wherein the multiple 3D points in the world coordinate frame are transformed to an inertial measurement unit (IMU) frame, from the IMU frame to a Light Detection and Ranging (LiDAR) frame, and from the LiDAR frame to the camera frame.

6. The method of claim 1 , wherein the actual 2D points are determined using at least one of image detection, object detection, and corner detection.

7. The method of claim 1 , wherein physical properties of the virtual camera and the camera are the same.

8. The method of claim 7 , wherein intrinsic parameters of the virtual camera and the camera are the same.

9. The method of claim 1 , wherein the offset compensation matrix includes yaw, pitch and roll matrices.

10. A vehicle system comprising: a processor configured to: obtain multiple 3D points for an object; transform the multiple 3D points to a camera frame; obtain actual 2D points for the object; establish a virtual camera corresponding to the actual 2D points; determine an offset compensation matrix between a camera associated with the camera frame and the virtual camera; and apply the offset compensation matrix to data points prior to use by vehicle control systems; and a controller configured to control operation of the AV with offset compensated data points.

11. The vehicle system of claim 10 , wherein the processor further configured to: execute a camera pose algorithm using the multiple 3D points in the camera frame and the actual multiple 2D points in a virtual camera frame associated with the virtual camera to determine the offset compensation matrix.

12. The vehicle system of claim 10 , wherein the offset compensation matrix includes translational matrices and rotation matrices.

13. The vehicle system of claim 10 , wherein the multiple 3D points are in a world coordinate frame.

14. The vehicle system of claim 13 , wherein the multiple 3D points in the world coordinate frame are transformed to an inertial measurement unit (IMU) frame, from the IMU frame to a Light Detection and Ranging (LiDAR) frame, and from the LiDAR frame to the camera frame.

15. The vehicle system of claim 10 , wherein the actual 2D points are determined using at least one of image detection, object detection, and corner detection.

16. The vehicle system of claim 10 , wherein physical properties and intrinsic parameters of the virtual camera and the camera are the same.

17. The vehicle system of claim 10 , wherein the offset compensation matrix includes yaw, pitch and roll matrices.

18. A method for compensating for autonomous vehicle (AV) system errors, the method comprising: obtaining projected 2D points from multiple 3D points for an object; obtaining actual 2D points for the object; calculating an error between the projected 2D points and the actual 2D points; executing a compensation algorithm when a calculated error is equal to or greater than a defined threshold, wherein the compensation algorithm comprises: transforming the multiple 3D points to a camera frame; establishing a virtual camera corresponding to the actual 2D points; determining an offset compensation matrix between a camera associated with the camera frame and the virtual camera; and applying the offset compensation matrix to data points prior to use by vehicle control systems; and controlling operation of the AV with offset compensated data points.

19. The method of claim 18 , wherein the determining the offset compensation matrix further comprising: executing a camera pose algorithm using the multiple 3D points in the camera frame and the actual multiple 2D points in a virtual camera frame associated with the virtual camera to determine the offset compensation matrix.

20. The method of claim 19 , wherein the offset compensation matrix includes translational matrices and rotation matrices.